cmake_minimum_required(VERSION 3.8)
project(robot_control2)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)

find_package(robot_state_msg REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(robot_control2 src/robot_control2.cpp
src/leg1Ang/leg1Ang.cpp
src/leg2Ang/leg2Ang.cpp
src/leg3Ang/leg3Ang.cpp
src/leg4Ang/leg4Ang.cpp)

# 设置包含目录
target_include_directories(robot_control2 PUBLIC
${PROJECT_SOURCE_DIR}/include # 包含整个include目录
${PROJECT_SOURCE_DIR}/src/leg1Ang
${PROJECT_SOURCE_DIR}/src/leg2Ang
${PROJECT_SOURCE_DIR}/src/leg3Ang
${PROJECT_SOURCE_DIR}/src/leg4Ang)

ament_target_dependencies(robot_control2 rclcpp geometry_msgs tf2 tf2_ros tf2_geometry_msgs std_msgs robot_state_msg)

install(TARGETS
  robot_control2
  DESTINATION lib/${PROJECT_NAME})

ament_package()
